class DeepSearchHandler(pyinotify.ProcessEvent):
""" Deep file search handler to handle the events gengerated by file changes """
def __init__(self):
self.datahandler = DatabaseHandler()
print "instance created"
def process_IN_CREATE(self, event):
"""Called when a file or directory is created."""
print "file create event" + str(event)
self.datahandler.create(event.pathname)
def process_IN_MODIFY(self, event):
""""Called when a file or directory is modified."""
print "file modify event" + str(event)
self.datahandler.update(event.pathname)
def process_IN_DELETE(self, event):
"""" Called when a file or directory is deleted. """
print "file delete event" + str(event)
self.datahandler.delete(event.pathname)
def process_IN_ACCESS(self, event):
"""" Called when a file or directory is accessed. """
print "file access event" + str(event.pathname)
self.datahandler.access(event.pathname)
def close_db_connection(self):
""" call close_connection function of datanadler """
self.datahandler.close_connection()
class DeepSearchHandler(PatternMatchingEventHandler): """ Deep file search handler to handle the events gengerated by file changes """ def __init__(self): self.datahandler = DatabaseHandler() self._ignore_directories = False self._ignore_patterns = False self._ignore_patterns = ["*.log","*.logger"] self._case_sensitive = False self._patterns = ["*.rb","*.py","*.java","*.mp4","*.mp3","*.txt"] print "instance created" def on_created(self,event): """Called when a file or directory is created.""" print "file create event"+str(event) self.datahandler.create(event.src_path) def on_modified(self,event): """"Called when a file or directory is modified.""" print "file modify event"+str(event) self.datahandler.update(event.src_path) def on_deleted(self,event): """" Called when a file or directory is deleted. """ print "file delete event"+str(event) self.datahandler.delete(event.src_path) def on_moved(self,event): """"Called when a file or a directory is moved or renamed.""" print "file moved event"+str(event) self.datahandler.moved(event.src_path) def close_db_connection(self): """ call close_connection function of datanadler """ self.datahandler.close_connection()
def main():
homedir = os.path.expanduser("~")
path = homedir + "/navigation.db"
if (os.path.exists(path) == False):
database_handler = DatabaseHandler(filename=path)
database_handler.create()
database_handler.add_location(location_name="entrance", robot_map_name="ntnu2.map", x=-18.440, y=6.500, z=0, p=0, j=0, r=2, threshold=3, crowded=False,enviorment=-0.10)
database_handler.add_location(location_name="home", robot_map_name="ntnu2.map", x=-29.500, y=8.700, z=0, p=0, j=0, r=2, threshold=3, crowded=False, enviorment=0.20)
database_handler.add_location(location_name="waiting area", robot_map_name="ntnu2.map", x=-33.600, y=10.600, z=0, p=0, j=0, r=2, threshold=3, crowded=False, enviorment=-0.10)
database_handler.add_location(location_name="cafeteria", robot_map_name="ntnu2.map", x=-33.090, y=-55.700, z=0, p=0, j=0, r=2, threshold=3, crowded=True, enviorment=0.20)
database_handler.add_location(location_name="elevator", robot_map_name="ntnu2.map", x=-29.500, y=-50.200, z=0, p=0, j=0, r=2, threshold=3, crowded=True, enviorment=-0.02)
database_handler.add_location(location_name="entrance 2", robot_map_name="ntnu2.map", x=-18.300, y=-66.000, z=0, p=0, j=0, r=33, threshold=3, crowded=True, enviorment=0.05)
database_handler.add_location(location_name="information", robot_map_name="ntnu2.map", x=-33.490, y=1.160, z=0, p=0, j=0, r=2, threshold=3, crowded=True, enviorment=0.05)
database_handler.add_location(location_name="el5", robot_map_name="ntnu2.map", x=-33.720, y=-32.500, z=0, p=0, j=0, r=-2, threshold=3, crowded=True, enviorment=0.00)
database_handler.add_location(location_name="el6", robot_map_name="ntnu2.map", x=-30.300, y=-12.840, z=0, p=0, j=0, r=2, threshold=3, crowded=True, enviorment=0.00)
database_handler.add_location(location_name="bridge", robot_map_name="ntnu2.map", x=-28.090, y=-63.500, z=0, p=0, j=0, r=2, threshold=3, crowded=True, enviorment=0.00)
database_handler.add_event(event_name="welcome_time", location_name="entrance", start_date=datetime.datetime(2017, 1, 18, 11, 0, 0, 1), end_date=datetime.datetime(2017, 1, 18, 11, 4, 0, 1), ignore=False)
database_handler.add_event(event_name="dinner_time", location_name="cafeteria", start_date=datetime.datetime(2017, 1, 18, 15, 0, 7, 1) , end_date=datetime.datetime(2017, 1, 18, 15, 59, 0, 1), ignore=False)
database_handler.add_event(event_name="wait_time", location_name="waiting area", start_date=datetime.datetime(2017, 1, 18, 8, 0, 1, 1) , end_date=datetime.datetime(2017, 1, 18, 8, 46, 0, 1), ignore=False)
database_handler.add_event(event_name="lunch_time", location_name="cafeteria", start_date=datetime.datetime(2017, 1, 18, 7, 0, 1, 1) , end_date=datetime.datetime(2017, 1, 18, 7, 0, 0, 1), ignore=False)
database_handler.add_event(event_name="goodbye_time", location_name="entrance 2", start_date=datetime.datetime(2017, 1, 18, 9, 0, 1, 1), end_date=datetime.datetime(2017, 1, 18, 9, 0, 0, 1), ignore=False)
database_handler.add_response( message="I love LOCATION", response_type="navigation_response", emotion="love")
database_handler.add_response( message="I am happy about LOCATION", response_type="navigation_response", emotion="elated")
database_handler.add_response( message="I like LOCATION", response_type="navigation_response", emotion="elated")
database_handler.add_response( message="I like LOCATION", response_type="navigation_response", emotion="dignified")
database_handler.add_response( message="I am happy about at LOCATION", response_type="navigation_response", emotion="neutral")
database_handler.add_response( message="I like LOCATION", response_type="navigation_response", emotion="neutral")
database_handler.add_response( message="What is this place? A LOCATION you say?", response_type="navigation_response", emotion="curious")
database_handler.add_response( message="What is this place? A LOCATION you say?", response_type="navigation_response", emotion="puzzled")
database_handler.add_response( message="I hate the LOCATION", response_type="navigation_response", emotion="angry")
database_handler.add_response( message="I dont like the LOCATION", response_type="navigation_response", emotion="angry")
database_handler.add_response( message="A the LOCATION, whatever. Been there, done that...", response_type="navigation_response", emotion="unconcerned")
database_handler.add_response( message="A the LOCATION, whatever. Been there, done that...", response_type="navigation_response", emotion="angry")
database_handler.add_response( message="A the LOCATION, whatever. Been there, done that...", response_type="navigation_response", emotion="inhibited")
rospy.init_node("cyborg_navigation")
navigation_server = NavigationServer(database_file=path)
rospy.spin()
def main():
rospy.init_node("cyborg_controller")
# Create emotions
emotion_system = EmotionSystem()
emotion_system.add_emotion(name="angry",
pleasure=-0.51,
arousal=0.59,
dominance=0.25)
emotion_system.add_emotion(name="bored",
pleasure=-0.65,
arousal=-0.62,
dominance=-0.33)
emotion_system.add_emotion(name="curious",
pleasure=0.22,
arousal=0.62,
dominance=-0.10)
emotion_system.add_emotion(name="dignified",
pleasure=0.55,
arousal=0.22,
dominance=0.61)
emotion_system.add_emotion(name="elated",
pleasure=0.50,
arousal=0.42,
dominance=0.23) # Happy
emotion_system.add_emotion(name="inhibited",
pleasure=-0.54,
arousal=-0.04,
dominance=-0.41) # Sadness
emotion_system.add_emotion(name="puzzled",
pleasure=-0.41,
arousal=0.48,
dominance=-0.33) # Surprized
emotion_system.add_emotion(name="loved",
pleasure=0.89,
arousal=0.54,
dominance=-0.18)
emotion_system.add_emotion(name="unconcerned",
pleasure=-0.13,
arousal=-0.41,
dominance=0.08)
homedir = os.path.expanduser("~")
path = homedir + "/controller.db"
# Fill database with default values
if (os.path.exists(path) == False):
event_cost = 0.6 #
database_handler = DatabaseHandler(filename=path)
database_handler.create()
database_handler.add_event(state="idle",
event="music_play",
reward_pleasure=0.08,
reward_arousal=0.02,
reward_dominance=-0.03,
event_cost=event_cost * 2)
database_handler.add_event(state="idle",
event="astrolanguage",
reward_pleasure=0.04,
reward_arousal=0.05,
reward_dominance=0.04,
event_cost=event_cost * 1.5)
database_handler.add_event(state="idle",
event="navigation_emotional",
reward_pleasure=0.02,
reward_arousal=0.04,
reward_dominance=-0.02,
event_cost=event_cost)
database_handler.add_event(state="idle",
event="show_off_mea",
reward_pleasure=0.02,
reward_arousal=0.01,
reward_dominance=0.01,
event_cost=event_cost / 2)
database_handler.add_event(state="idle",
event="convey_emotion",
reward_pleasure=0.01,
reward_arousal=-0.01,
reward_dominance=0.02,
event_cost=event_cost / 3)
# Create motivator
motivator = Motivator(database_file=path)
motivator.start()
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=["error"])
sm.userdata.state_machine_events = []
sm.userdata.last_state = "initializing"
sm.userdata.last_event = "start_up"
with sm:
sm_remapping = {
"input_events": "state_machine_events",
"output_events": "state_machine_events",
"previous_state": "last_state",
"current_state": "last_state",
"previous_event": "last_event",
"current_event": "last_event"
}
idle_transitions = {
"navigation_schedular": "navigation",
"navigation_emotional": "navigation",
"convey_emotion": "conveying_emotional_state",
"show_off_mea": "show_off_mea",
"music_play": "music_horror",
"astrolanguage": "astrolanguage",
"aborted": "idle",
"power_low": "exhausted",
"bedtime": "sleepy"
}
idle_resources = {} # Idle does not require any resources
smach.StateMachine.add(
"idle",
Module("idle", "cyborg_primary_states", idle_transitions,
idle_resources), idle_transitions, sm_remapping)
sleepy_transitions = {"aborted": "idle", "succeeded": "sleeping"}
sleepy_resources = {}
show_off_mea_transitions = {"aborted": "idle", "succeeded": "idle"}
smach.StateMachine.add(
"show_off_mea",
Module("show_off_mea", "cyborg_behavior", show_off_mea_transitions,
sleepy_resources), show_off_mea_transitions, sm_remapping)
smach.StateMachine.add(
"sleepy",
Module("sleepy", "cyborg_behavior", sleepy_transitions,
sleepy_resources), sleepy_transitions, sm_remapping)
exhausted_transitions = {"aborted": "idle", "succeeded": "sleeping"}
exhausted_resources = {}
smach.StateMachine.add(
"exhausted",
Module("exhausted", "cyborg_behavior", exhausted_transitions,
exhausted_resources), exhausted_transitions, sm_remapping)
sleeping_transitions = {
"preempted": "idle",
"cyborg_wake_up": "waking_up"
}
sleeping_resources = {}
smach.StateMachine.add(
"sleeping",
Module("sleeping", "cyborg_primary_states", sleeping_transitions,
sleeping_resources), sleeping_transitions, sm_remapping)
waking_up_transitions = {"aborted": "idle", "succeeded": "idle"}
waking_up_resources = {}
smach.StateMachine.add(
"waking_up",
Module("waking_up", "cyborg_behavior", waking_up_transitions,
waking_up_resources), waking_up_transitions, sm_remapping)
conveying_emotion_transitions = {
"aborted": "idle",
"succeeded": "idle"
}
conveying_emotion_resources = {}
smach.StateMachine.add(
"conveying_emotional_state",
Module("conveying_emotional_state", "cyborg_behavior",
conveying_emotion_transitions, conveying_emotion_resources),
conveying_emotion_transitions, sm_remapping)
sm_nav = smach.StateMachine(
outcomes=["succeeded", "aborted", "power_low"])
with sm_nav:
navigation_planning_transitions = {
"navigation_start_moving_schedular":
"navigation_go_to_schedular",
"navigation_start_moving_emotional":
"navigation_go_to_emotional",
"navigation_start_wandering": "wandering_emotional",
"aborted": "aborted"
}
navigation_planning_resources = {}
smach.StateMachine.add(
"navigation_planning",
Module("navigation_planning", "cyborg_primary_states",
navigation_planning_transitions,
navigation_planning_resources),
navigation_planning_transitions, sm_remapping)
navigation_go_to_transitions = {
"succeeded": "succeeded",
"aborted": "aborted",
"preempted": "aborted"
}
smach.StateMachine.add(
"navigation_go_to_emotional",
statemachines.sequence_navigation_go_to_emotional,
transitions=navigation_go_to_transitions,
remapping=sm_remapping)
navigation_go_to_schedular_resources = {}
smach.StateMachine.add(
"navigation_go_to_schedular",
Module("navigation_go_to_schedular", "cyborg_behavior",
navigation_go_to_transitions,
navigation_go_to_schedular_resources),
navigation_go_to_transitions, sm_remapping)
navigation_wandering_emotional_transitions = {
"navigation_wandering_complete": "succeeded",
"aborted": "aborted",
"power_low": "power_low"
}
navigation_wandering_emotional_resources = {}
smach.StateMachine.add(
"wandering_emotional",
Module("wandering_emotional", "cyborg_primary_states",
navigation_wandering_emotional_transitions,
navigation_wandering_emotional_resources),
navigation_wandering_emotional_transitions, sm_remapping)
sm_nav_transitions = {
"aborted": "idle",
"succeeded": "idle",
"power_low": "exhausted"
}
smach.StateMachine.add("navigation", sm_nav, sm_nav_transitions,
sm_remapping)
music_transitions = {"aborted": "idle", "succeeded": "idle"}
music_resources = {}
smach.StateMachine.add(
"music_horror",
Module("music_horror", "cyborg_behavior", music_transitions,
music_resources), music_transitions, sm_remapping)
astrolanguage_transitions = {"aborted": "idle", "succeeded": "idle"}
astrolanguage_resources = {}
smach.StateMachine.add(
"astrolanguage",
Module("astrolanguage", "cyborg_behavior",
astrolanguage_transitions, astrolanguage_resources),
astrolanguage_transitions, sm_remapping)
sm.register_io_keys(
{"state_machine_events", "last_state", "last_event"})
sm_nav.register_io_keys(
{"state_machine_events", "last_state", "last_event"})
rospy.sleep(3)
sis = smach_ros.IntrospectionServer('controller_viewer', sm,
'/controller_viewer')
sis.start()
smach_thread = threading.Thread(target=sm.execute)
smach_thread.daemon = True
smach_thread.start()
# Start ROS main looping
rospy.loginfo("Controller: Activated...")
rospy.spin()
sis.stop()
rospy.loginfo("Controller: Terminated...")
def main():
rospy.init_node("cyborg_controller")
# Create emotions
emotion_system = EmotionSystem()
emotion_system.add_emotion(name="angry",
pleasure=-0.51,
arousal=0.59,
dominance=0.25)
emotion_system.add_emotion(name="bored",
pleasure=-0.65,
arousal=-0.62,
dominance=-0.33)
emotion_system.add_emotion(name="curious",
pleasure=0.22,
arousal=0.62,
dominance=-0.10)
emotion_system.add_emotion(name="dignified",
pleasure=0.55,
arousal=0.22,
dominance=0.61)
emotion_system.add_emotion(name="elated",
pleasure=0.50,
arousal=0.42,
dominance=0.23) # Happy
emotion_system.add_emotion(name="inhibited",
pleasure=-0.54,
arousal=-0.04,
dominance=-0.41) # Sadness
emotion_system.add_emotion(name="puzzled",
pleasure=-0.41,
arousal=0.48,
dominance=-0.33) # Suprized
emotion_system.add_emotion(name="loved",
pleasure=0.89,
arousal=0.54,
dominance=-0.18)
emotion_system.add_emotion(name="unconcerned",
pleasure=-0.13,
arousal=-0.41,
dominance=0.08)
homedir = os.path.expanduser("~")
path = homedir + "/controller.db"
# Fill database with default values
if (os.path.exists(path) == False):
event_cost = 0.45
database_handler = DatabaseHandler(filename=path)
database_handler.create()
database_handler.add_event(state="idle",
event="music_play",
reward_pleasure=0.08,
reward_arousal=0.01,
reward_dominance=-0.02,
event_cost=event_cost)
database_handler.add_event(state="idle",
event="navigation_emotional",
reward_pleasure=0.00,
reward_arousal=0.05,
reward_dominance=-0.01,
event_cost=event_cost)
database_handler.add_event(state="conversation",
event="weather_tell",
reward_pleasure=0.05,
reward_arousal=0.00,
reward_dominance=0.00,
event_cost=event_cost)
database_handler.add_event(state="conversation",
event="joke_tell",
reward_pleasure=0.05,
reward_arousal=0.02,
reward_dominance=0.00,
event_cost=event_cost)
database_handler.add_event(state="conversation",
event="selfie_take",
reward_pleasure=0.05,
reward_arousal=-0.02,
reward_dominance=0.01,
event_cost=event_cost * 1.5)
database_handler.add_event(state="conversation",
event="simon_says_play",
reward_pleasure=0.00,
reward_arousal=0.00,
reward_dominance=0.10,
event_cost=event_cost)
database_handler.add_event(state="conversation",
event="follower_follow",
reward_pleasure=0.00,
reward_arousal=0.05,
reward_dominance=-0.05,
event_cost=event_cost)
# Create motivator
motivator = Motivator(database_file=path)
motivator.start()
# Create a SMACH state machine
state_machine = smach.StateMachine(outcomes=["error"])
state_machine.userdata.state_machine_events = []
state_machine.userdata.last_state = "initializing"
state_machine.userdata.last_event = "start_up"
# Open the container
with state_machine:
# Remapp outputs, so userdata can be moved between states
state_machine_remapping = {
"input_events": "state_machine_events",
"output_events": "state_machine_events",
"previous_state": "last_state",
"current_state": "last_state",
"previous_event": "last_event",
"current_event": "last_event"
}
# Add states to the container
idle_transitions = {
"conversation_interest": "conversation",
"navigation_schedualer": "navigation_planing",
"navigation_emotional": "navigation_planing",
"aborted": "idle",
"navigation_command": "navigation_planing",
"music_play": "music"
}
idle_resources = {} # Idle does not require any resources
smach.StateMachine.add(label="idle",
state=Module(state_name="idle",
actionlib_name="cyborg_idle/idle",
transitions=idle_transitions,
resources=idle_resources),
transitions=idle_transitions,
remapping=state_machine_remapping)
conversation_transitions = {
"aborted": "idle",
"succeded": "idle",
"navigation_feedback": "navigation_talking",
"navigation_command": "navigation_talking",
"navigation_information": "navigation_talking",
"simon_says_play": "simon_says",
"selfie_take": "selfie",
"follower_follow": "follower",
"weather_tell": "weather",
"joke_tell": "joke"
}
conversation_resources = {"trollface": "cyborg_conversation"}
smach.StateMachine.add(
label="conversation",
state=Module(state_name="conversation",
actionlib_name="cyborg_conversation/conversation",
transitions=conversation_transitions,
resources=conversation_resources),
transitions=conversation_transitions,
remapping=state_machine_remapping)
navigation_transitions = {
"aborted": "navigation_talking",
"navigation_start_wandering": "navigation_moving",
"navigation_start_moving": "navigation_moving",
"succeded": "navigation_talking"
}
navigation_resources = {"base": "cyborg_navigation"}
smach.StateMachine.add(label="navigation_planing",
state=Module(
state_name="navigation_planing",
actionlib_name="cyborg_navigation/planing",
transitions=navigation_transitions,
resources=navigation_resources),
transitions=navigation_transitions,
remapping=state_machine_remapping)
navigation_transitions = {
"aborted": "navigation_talking",
"succeded": "navigation_talking",
"navigation_wandering_completed": "idle"
}
navigation_resources = {"base": "cyborg_navigation"}
smach.StateMachine.add(label="navigation_moving",
state=Module(
state_name="navigation_moving",
actionlib_name="cyborg_navigation/moving",
transitions=navigation_transitions,
resources=navigation_resources),
transitions=navigation_transitions,
remapping=state_machine_remapping)
navigation_transitions = {
"aborted": "idle",
"succeded": "idle",
"navigation_feedback_completed": "conversation",
"navigation_command": "navigation_planing"
}
navigation_resources = {
"base": "cyborg_navigation",
"trollface": "cyborg_navigation"
}
smach.StateMachine.add(label="navigation_talking",
state=Module(
state_name="navigation_talking",
actionlib_name="cyborg_navigation/talking",
transitions=navigation_transitions,
resources=navigation_resources),
transitions=navigation_transitions,
remapping=state_machine_remapping)
music_transitions = {
"aborted": "idle",
"succeded": "idle",
"conversation_interest": "conversation"
}
music_resources = {}
smach.StateMachine.add(label="music",
state=Module(
state_name="music",
actionlib_name="cyborg_music/music",
transitions=music_transitions,
resources=music_resources),
transitions=music_transitions,
remapping=state_machine_remapping)
smach.StateMachine.add(
label="simon_says",
state=Module(state_name="simon_says",
actionlib_name="cyborg_conversation/simon_says",
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
resources={"trollface": "cyborg_simon_says"}),
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
remapping=state_machine_remapping)
smach.StateMachine.add(label="selfie",
state=Module(
state_name="selfie",
actionlib_name="cyborg_conversation/selfie",
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
resources={"trollface": "cyborg_selfie"}),
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
remapping=state_machine_remapping)
smach.StateMachine.add(
label="follower",
state=Module(state_name="follower",
actionlib_name="cyborg_conversation/follower",
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
resources={"trollface": "cyborg_follower"}),
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
remapping=state_machine_remapping)
smach.StateMachine.add(
label="weather",
state=Module(state_name="weather",
actionlib_name="cyborg_conversation/weather",
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
resources={"trollface": "cyborg_weather"}),
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
remapping=state_machine_remapping)
smach.StateMachine.add(
label="joke", # name on state
state=Module(
state_name="joke", # name on state
actionlib_name="cyborg_conversation/joke", # actionlib name
transitions={
"aborted": "conversation",
"succeded": "conversation"
}, #event name:state - events that leads away from state
resources={"trollface": "cyborg_joke"
}), # for gatekeepers: resource_name:node_name
transitions={
"aborted": "conversation",
"succeded": "conversation"
},
remapping=state_machine_remapping)
################################################### ADD MORE STATES BELOW ###################################################
################################################### STOP ADDING YOUR STATES ###################################################
# Create a state machine monitorer
smm = StateMachineMonitor(state_machine, display_all=True)
rospy.loginfo("Controller: State Machine Monitor Activated...")
import smach_ros
sis = smach_ros.IntrospectionServer('controler_viewer', state_machine,
'/controler_viewer')
sis.start()
# Create a thread to execute the smach
smach_thread = threading.Thread(target=state_machine.execute)
smach_thread.daemon = True
smach_thread.start()
rospy.loginfo("Controller: SMACH activated...")
# Start ROS main looping
rospy.loginfo("Controller: Activated...")
rospy.spin()
sis.stop()
rospy.loginfo("Controller: Terminated...")